docker/micro-ROS-Agent/Dockerfile at rolling · micro-ROS/docker · GitHub

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FROM microros/base:rolling AS micro-ros-agent-builder

WORKDIR /uros_ws

RUN . /opt/ros/$ROS_DISTRO/setup.sh \

&& . install/local_setup.sh \

&& apt update \

&& ros2 run micro_ros_setup create_agent_ws.sh \

&& ros2 run micro_ros_setup build_agent.sh \

&& rm -rf log/ build/ src/

FROM ros:rolling-ros-core

COPY --from=micro-ros-agent-builder /uros_ws /uros_ws

WORKDIR /uros_ws

# Disable shared memory

COPY disable_fastdds_shm.xml disable_fastdds_shm_localhost_only.xml /tmp/

ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

ENV MICROROS_DISABLE_SHM=1

RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc

RUN echo ". /uros_ws/install/setup.bash" >> ~/.bashrc

# setup entrypoint

COPY ./micro-ros_entrypoint.sh /

ENTRYPOINT ["/bin/sh", "/micro-ros_entrypoint.sh"]

CMD ["--help"]

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